DE102004052020B4 - Printing form manipulator - Google Patents

Abstract

Combination of an offset printing plate and a printing form manipulator for mounting or unmounting an offset printing plate (4) in a printing unit, the printing form manipulator comprising: a) a movable manipulator head (20) with at least two holding members (18, 19) for the offset printing plate (4) from each other b) wherein the manipulator head (20) supports at least one of the holding members (18, 19) movable relative to the other in such a way that the holding members (18 , 19) held offset printing plate, a distance (d) between the holding members (18, 19) is variable.

Description

The invention relates to a printing form manipulator for an automatic insertion or removal of a printing form in a printing unit of a printing press. Rather than just hanging or just hanging out, the printing form manipulator in preferred embodiments is a printing plate changer for automatically unhooking a printing form and automatically mounting a new printing plate in place of the printed form. The printing machine is preferably a rotary printing machine and may be in particular a web-fed rotary printing press. The printing form manipulator is used in such applications for mounting or unmounting a printing form in or from a printing form cylinder of such a printing press. The printing form is flexible and can in particular be a printing plate for offset printing, both for wet offset printing and dry offset. The invention is particularly preferably used in the printing of newspaper editions. The invention further relates to a combination of an offset printing plate and a printing form manipulator.

From the EP 0 700 780 A1 An apparatus and method for mounting a thin elastic printing plate is known. The printing plate is fixed with a leading end on a printing cylinder, while it is held at the other end by a feeder over its entire width. By rotating the cylinder, the held elastic pressure plate is clamped on the impression cylinder.

A plate changing device for cylinders of gravure printing systems is from the DE 75 20 968 U known. The pressure plate has a shape which corresponds to the shape of a partial surface of the cylinder and can be fed to the cylinder or removed from the cylinder by means of the plate changer.

The DE 103 38 374 A1 relates to a device for feeding printing plates to a printing plate changing device by means of a printing plate clamping device. In this case, the printing plate clamping device on terminal strips, which edge when gripping the printing plate whose trailing edge.

The JP 2 043 143 A describes a plate gripping device with suckers, which can be moved independently in the direction of the male plate.

A printing plate changer for providing and feeding printing plates relates to DE 100 10 056 A1 wherein the printing plate changer can be held by a hinged to the printing unit and the printing plate changer element in a service position and a feed position and the element supports the movement in the feed or Abschwenkstellung.

A printing form changing device with a pivotable printing form table is from the DE 199 34 271 A1 known. The printing form to be exchanged is gripped on its underside and by means of a compact body which acts on the surface of the printing form, the positioning of the printing forme or the pivotable printing form table is made possible in any desired position.

The US 4 727 807 A relates to a printing plate changer which transports the printing form from a store to the printing form cylinder and presses there the printing plate on the surface of the rotating cylinder until the trailing end of the printing plate is clamped in a device provided for the cylinder.

From the EP 0 431 364 B1 a handling device for printing plates is known, wherein the device is arranged between two printing units and can operate alternately both printing units.

The DE 103 11 285 A1 relates to a printing unit of a printing press with a forme cylinder with an inking unit and a dampening unit, wherein the supply of a printing plate is carried out on the forme cylinder when employed inking and dampening roller.

An automatic plate feeding and cylinder loading system describes the DE 40 03 445 C2 , The device for transport and removal of the printing plates is arranged parallel to the printing press. Between two adjacent printing units and before the first or behind the last printing cylinder, the printing plates are parallel to the printing cylinders or removed.

From the DE 196 20 997 C2 For example, a method and apparatus for axially positioning a printing plate during application to a cylinder of a rotary printing press is known.

The DE 10 2004 023 434 A1 relates to a suction device and a method for gripping and placing a cylinder lining of a rotary printing machine. The suction cups of the suction device can be switched on and off individually.

The problem is the limited space available in the printing unit and consequently the accessibility of the printing plate carrier. Thus, the printing plate support, for example, the printing form cylinder of a rotary printing machine, be installed by additional equipment such as car washes.

It is an object of the invention to provide a printing forme manipulator, which requires only a small free working space for mounting or unmounting a printing form and therefore makes only low demands on the accessibility of the location of the mounting or unmounting. Another object is to provide a corresponding combination of an offset printing plate and a printing form manipulator.

An inventive printing form manipulator, which can be installed in a printing machine, provided for installation or, in principle, also designed as a robot separate from the printing press, comprises at least one movable manipulator head with at least two holding members for holding a printing form. The holding members are spaced from each other so that they contact the printing forme in a printing forme handling at two different locations and hold there. The holding members are preferably designed so that they only have to contact the printing form on one of its two flat sides. A particularly preferred holding member is a sucker, which may be an active or passive sucker. An active sucker is constantly sucked off or at least sucked, ie subjected to a negative pressure. A passive sucker may in particular be an elastic suction cup, which is pressed against the surface of a printing plate so that its bowl volume is reduced. When reducing, air can escape from the cup volume. If the contact pressure is taken from the suction cup, the cup volume expands elastically again, but it is ensured that no air can flow into the cup volume, so that a suction effect is achieved. A preferred passive sucker is in the DE 10 2004 023 434 As described in this regard.

According to the invention, at least one of the holding members is movable relative to the other, so that the distance between the holding members can be varied. The distance variation serves to buckle a flexible printing form. If the printing form is held by, for example, two holding members and their distance is reduced while retaining the contact points, then the printing form warps between the two holding members. In a preferred only uniaxial distance variation, the printing plate bends about an axis perpendicular to the axis of the distance variation pointing axis. If the printing form support is a printing form cylinder, the distance between the holding members is preferably variable in the circumferential direction of the cylinder. But even for the general case of a printing form carrier, it is preferred if the distance of the holding members is variable in a direction in which the printing form manipulator moves the printing plate on the printing form carrier to or from this.

The invention further relates to the combination of an offset printing plate with a printing forme manipulator for mounting and unmounting an offset printing plate. The printing plate manipulator comprises a movable manipulator head having at least two offset printing plate holding members spaced from each other so as to hold the offset printing plate at spaced locations, the manipulator head supporting at least one of the holding members relative to the other one of the holding members held offset printing plate, a distance between the holding members is variable.

The relative movement between the at least two holding members may be, for example, a pivoting movement. Preferably, it is a translatory relative movement, particularly preferably a sliding displacement. For the translational relative movement of the manipulator head advantageously forms a cam mechanism, d. H. a guide cam and at least one guided by the guide cam engagement member. Guide curve and engaging member may advantageously be formed in the manner of a telescope, in which the two gear members lead each other, d. H. are each formed as a guide curve. It is also conceivable, however, to form the at least one engagement member as a rolling body, which rolls on the guide cam. The engagement member would be formed in one case as a sliding carriage and in the other as a rolling carriage.

Preferably, the manipulator head also has a discharge device, which ensures that the printing plate can bulge only in one of the two possible with uniaxial distance variation possible, pointing perpendicular to the direction of the distance variation directions.

The discharge device is arranged in preferred embodiments between the variable-length holding members. This means, in the case of the distance variation preferably taking place only on one axis, that the discharge device is arranged in a projection perpendicular to the axis of the distance variation between the holding members. However, it is particularly preferred if the discharge device is formed along the axis of the distance variation between the holding members.

In alternative embodiments, the discharge device can not be arranged between, but next to the holding members. In order to bend the printing forme in a particular shape, a part of the discharge can basically also be arranged between and another part next to the holding members, wherein in such embodiments it is further preferred if the two parts of the discharge independently or optionally either can be brought independently or together to act on the printing plate.

In a simple and not least therefore preferred arrangement, the holding members and the discharge of the same flat side of the printing form facing and advantageously contact only this page. The manipulator head is expediently, in its entirety, facing the relevant side of the printing form. In alternative embodiments, however, which are also the subject of the invention, the discharge device would have to be formed encompassing the printing forme from the manipulator head.

The discharge device may in particular comprise one or more rolling bodies or consist of one or more rolling bodies. The one or more rolling elements is or are rotatably mounted in such a way that he or she can roll for clamping the printing forme on the printing form carrier on the printing plate or can. The discharge device simultaneously forms in such a double function also a unwinding device for clamping the printing form. In the development as unwinding either the holding members or at least one rolling body of the discharge are movable transversely to the flat side of the printing form, so that on the one hand the holding organs unimpeded record and hold the printing form of the Ableit- / unwinding and holding the Abroll- / discharge of The holding members can not roll unobstructed on the printing form. Optionally, both the holding members and the unwinding / discharging device can each be arranged transversely to the flat side of the printing forme movable on the manipulator head. The DE 10 2004 023 434 Albeschreibt for the interplay of the holding members and a pure unwinding a solution that is also advantageous for the holding members and diverting / unwinding device of the invention.

In order to enable the handling of the printing forme in a cramped or otherwise built working space, the printing forme manipulator comprises in advantageous developments at least two joints, of which a first connects the manipulator head in at least one plane pivotally or only rotatably connected to the manipulator. In the second of these joints, the manipulator head is connected to the manipulator arm in a translatory manner in the same plane in the longitudinal direction of the manipulator arm. While in the prior art, the movability of the manipulator head relative to a manipulator arm supporting the manipulator head is a pivotal movement requiring a corresponding pivotal space depending on the length of the respective pivot arm, the invention permits changes in the plane of translation without sacrificing freedom of movement in a confined space the position of the manipulator head relative to the manipulator arm. The printing form manipulator according to the invention accordingly places even lower demands on the accessibility in the printing unit. It is particularly advantageous if the manipulator head can be moved along the manipulator arm in an overlapping manner along the manipulator arm in the longitudinal direction.

The second joint formed as a translational joint permits an at least substantially pivot-free translational movement of the manipulator head relative to the manipulator arm, preferably allowing a completely pivot-free relative movement. It comprises in preferred embodiments as joint elements a guide curve and guided by the guide cam engagement member, for example, a sliding or rolling carriage. Guide curve and engaging member can also form a guide in the longitudinal direction of the manipulator arm, as in the case of a telescope, for the other joint element in each case. The engagement member or preferably the guide cam is connected to the manipulator arm. The other joint element of the translational joint is connected to the manipulator head. The translational joint is preferably formed as a simple slip joint. Although the embodiment is preferred with only a single engaging member, also a plurality of engagement members may be provided, for example, a plurality of rolling elements, which roll on the guide cam. The manipulator head is moved by the joint element connected to it in the joint, i. H. on the adjustment path formed by the joint, taken along.

The first joint is advantageously not required and also not used to adjust the position of the manipulator head as a whole relative to the manipulator, but for adjusting the rotational angle orientation of the manipulator head relative to the manipulator and also to the printing unit. A pivot arm formed between the second joint and the at least one retaining element of the manipulator head should be as small as possible. Such a pivoting arm can even be completely eliminated by the hinge axis of the first joint, d. H. the axis of rotation of which extends in the contact plane of the at least one retaining member and a printing block held by the retaining member. In such an embodiment, the first joint is a pure hinge. If a pivoting arm is formed between the first joint and a pressure mold held by the retaining element, then this advantageously is shorter than a maximum path length which the manipulator head can travel in the second joint. In absolute terms, such a pivot axis should be at most 20 cm, preferably at most 10 cm, long. This allows a rotational angle alignment of the manipulator head in a confined space.

The manipulator arm is preferably arranged pivotably in the plane of the translational movement and the pivoting or even pure rotary movement of the manipulator head. The second hinge allows the translational movement of the first articulation on a pivot axis of the pivotable manipulator arm to and from this pivot axis away, so as to vary the effective for the manipulator head length of the arm formed by the manipulator arm can. The translational movement is preferably a linear movement. In particular, the translational movement can be directed exactly to the pivot axis of the manipulator arm. Instead of being able to pivot, the manipulator arm can also be translationally movable in the plane of the translatory movement of the manipulator head, preferably in the vertical and horizontal directions, but in any case such that the first joint can be moved by the movement of the manipulator arm towards and away from a printing form support.

The manipulator is articulated on a robot platform or preferably on a frame part of a printing press frame, which supports the components of the printing unit, preferably directly. However, it should not be ruled out that the manipulator arm on the printing press frame or possibly a relative to the printing press frame itself movable robot platform is articulated only one or more further manipulator arms which are movable relative to the frame or the platform on the one hand and the manipulator arm on the other hand. If the linkage to the frame or the platform is preferably designed such that the manipulator arm is pivotable and additionally translationally movable, it is preferred if the manipulator arm forms a hinge element of the swivel joint required for the swivel bearing, either the bearing shell or the journal, and the other joint element of the pivot joint is a joint element of a translational joint formed for the manipulator arm.

A printing press in which the printing plate manipulator is preferably used comprises a printing tower or a plurality of printing towers arranged one behind the other in the web running direction, in which the printing cylinders and other rotary bodies such as inking rollers or dampening rollers are arranged parallel to one another. Typically, the printing cylinders form H-bridges with their inking units and possibly existing dampening units. The H-bridges can be formed by satellite printing plants, in particular nine- or ten-cylinder printing units, or by rubber / rubber printing units. Preferably, one printing form manipulator according to the invention is provided per H-bridge on both sides of a printing web passing through the H-bridge. The cylinders can also form only simple bridges instead of in H-bridges, which have a U- or A-shape or form a simple horizontal or vertical strip. The respective simple bridges are preferably arranged parallel to one another per printing tower. It is particularly efficient if one printing form manipulator according to the invention is provided for each two superimposed, at least substantially vertically stacked printing form supports, preferably printing form cylinders. Compared to an arrangement with one printing form manipulator per printing plate carrier considerable investment costs and also maintenance and repair costs can be saved, while a concept in which each printing plate support per a printing forme manipulator is provided, with respect to the time required for a printing form change is not practically relevant Advantage brings. However, compared to concepts with, for example, a printing form manipulator for more than two printing plate carriers, for example a complete page of a printing tower, the time advantages associated with the preferred concept are considerable.

The manipulator head is preferably movable not only in the plane in which the above-described movements are executed, but also transversely, preferably vertically, to this manipulation plane, preferably translationally and particularly preferably linearly movable. This further degree of freedom of movement allows an adjustment movement in order to position the held printing form transversely to the manipulation plane with respect to a page register predetermined by a printing form cylinder or, more generally, a printing form carrier. For transversal mobility, the manipulator head can be placed by means of a floating support with a printing machine or connected to a robot platform. The articulating hinge is preferably formed between the manipulator head and the manipulator arm, but may alternatively be provided between the manipulator arm and the frame or platform. As part of the adjustment provided by the floating bearing register offset between the printing plate support and held by the manipulator head printing form can be compensated. The compensation is passive by means of a floating storage, d. H. the held printing form centered register exactly when hanging on the printing plate carrier, and the manipulator head follows in the context of its transversal mobility. Instead of a passive compensation by means of floating storage, the manipulator head can be moved actively in an alternative embodiment by means of a drive transversely. Passive transverse mobility by means of floating storage, however, is preferred.

If the to-use printing forme cylinder or another, ie non-cylindrical printing form carrier transversely to the plane of Pivoting movement of the manipulator head side by side receives a plurality of printing plates or arranged in this transverse direction side by side a plurality of printing form carrier, preferably also a plurality of printing form manipulators are provided side by side, advantageously one each Druckformmanipulator for each of the juxtaposed printing forms. The plurality of printing form manipulators arranged side by side can individually form a printing form manipulator of the type described above. More preferably, however, the plurality of printing form manipulators are arranged on a common traverse, which in turn is connected to a printing press or a robot platform via one or preferably two, optionally also more than two manipulator arms of the type described above. The traverse preferably forms one of the two joint elements of the second joint, ie the translational joint. The manipulator head is thus connected via the traverse with the manipulator arm. The manipulator heads arranged next to one another on the traverse can each be connected to the traverse individually by means of the first articulation described above. Alternatively, the traverse with the manipulator arm or the multiple manipulator arms can form the first joint. If the plurality of printing form manipulators are actively floating transversely to the manipulation plane or actively movable by means of drive, they are preferably individual, which can be achieved individually by forming a corresponding articulated connection, ie a translational joint, between the traverse and the manipulator heads.

Preferred features are also described in the subclaims and their combinations.

Embodiments of the invention are explained below with reference to figures. The features disclosed in the exemplary embodiments form each individually and in each combination of features the subject-matter of the claims and also the embodiments described above. Show it:

1 a printing unit with a printing form manipulator according to the invention,

2 the printing form manipulator,

3 the printing form manipulator with a printing form,

4 several of the printing form manipulators, which are arranged side by side along a common traverse,

5 a further developed manipulator head of the printing form manipulator with a printing forme,

6 the manipulator head of 5 with vaulted printing form and

7 - 9 Application examples for the printing form manipulator.

1 shows a printing unit in a view. The printing unit is formed as a ten-cylinder unit. It includes two central steel cylinders 1 , four blanket cylinders 2 , four printing forme cylinders 3 and the printing forme cylinders 3 associated dyeing and dampening units. The cylinders 1 to 3 form an H-bridge in the view shown. The two central cylinders 1 each are two blanket cylinders 2 associated with the respective central cylinder 1 each form a printing gap for a web to be printed. The blanket cylinders 2 is ever one of the plate cylinder 3 assigned. The arrangement is relative to a vertical extending between the two central cylinders 1 extends through, symmetrical. The cylinders 1 to 3 and also the rollers of the associated inking and dampening units are in a rack 5 rotatably mounted.

On both sides of the print engine 1 - 3 is ever a printing forme manipulator 10 intended. Of the two the printing unit 1 - 3 associated Druckformmanipulatoren only one is shown. A manipulator arm of the printing form manipulator 10 is with 12 designated. On the opposite side is a mirror image of the vertical a similar printing form manipulator 10 intended. Overall, in this way the printing unit 1 - 3 two printing form manipulators 10 assigned, each a printing form manipulator 10 for the two approximately vertically stacked printing form cylinder 3 , If in a printing tower of the printing press two or even three of the printing units 1 - 3 are arranged one above the other, is preferably each of the printing units 1 - 3 on both sides ever such a printing form manipulator 10 assigned. When viewed in the web running direction horizontally successively arranged printing units 1 - 3 or printing towers formed therefrom, this preferably applies to each of the printing units 1 - 3 or each of the printing towers, allowing each of the printing form manipulators 10 only one printing unit each 1 - 3 , ie their printing forme cylinders 3 , is assigned and each of the printing units 1 - 3 about two of the printing form manipulators 10 features. The same applies preferably for other types of printing units, such as nine-cylinder units and rubber / rubber units, in which the pressure gap is formed between each two blanket cylinders. For printing units which have three blanket cylinders, which optionally form printing gaps with one another, so-called λ or Y units, are per printing unit preferably also two printing form manipulators 10 provided, of which operate a two accessible from one side of the printing plate cylinder and the other the third printing forme cylinder.

The printing form manipulator 10 is along a guide 7 vertically movable. The leadership 7 is fixed to the frame 5 connected. It is made as a straight guide rail. A printing form magazine 6 is at a lower end of the lead 7 arranged. The magazine 6 is the printing unit 1 - 3 assigned, ie in the magazine 6 are only the printing forms of the printing unit 1 - 3 recorded, on the one hand to be hung new printing forms and on the other hand, the hung, previously used printing forms.

The printing form manipulator 10 take along the guide 7 a position from which he the lower of the two associated printing forme cylinder 3 with a printing form 4 can serve. The printing form manipulator 10 is further indicated by dashed lines in further vertical positions. In a lower, the magazine 6 near position is the printing form manipulator with 10 designated. In this position he can the magazine 6 remove a new printing form or a previously used one in the magazine 6 lay down. In an upper vertical position of the printing plate manipulator with 10 '' and in an intermediate position with 10 ''' designated. In the upper vertical position the printing form manipulator operates 10 '' the upper of the two associated printing forme cylinder 3 , In the intermediate position is the printing forme manipulator 10 ''' between the operating position for the lower plate cylinder 3 and the upper vertical position, that is, the operating position for the upper plate cylinder 3 , In this intermediate position, ie on the way between the operating positions and generally during other vertical movements is the printing form manipulator 10 at least essentially from the area of the printing unit 1 - 3 swung out, leaving it with a held printing form without regard to from the printing unit 1 - 3 formed obstacles, especially the inking and dampening unit of the lower plate cylinder 3 , along the guide 7 can be moved.

2 shows the printing form manipulator 10 removed from the printing unit 1 - 3 , The printing form manipulator 10 includes a hinge element 11 that of the hinge element 11 protruding manipulator arm 12 , one between the joint element 11 and the manipulator arm 12 formed swivel joint 11 . 12 , a manipulator head 15 and a two-link joint connecting the manipulator head 15 with the manipulator arm 12 combines. When the printing form manipulator 10 is installed in the printing press, forms the hinge element 11 together with the leadership 7 a translational joint 7 . 11 with the vertical translation axis T ₁ . In the translational joint 7 . 11 is the printing form manipulator 10 as a whole relative to the printing unit 1 - 3 vertically movable. The joint element 11 also forms with the manipulator arm 12 the hinge 11 . 12 with the axis of rotation R ₁ . The manipulator arm 12 and together with it the manipulator head 15 are in the swivel 11 . 12 pivotable about the axis of rotation R ₁ .

The manipulator head 15 is about a joint element 13 with the manipulator arm 12 connected. The joint element 13 forms with the manipulator arm 12 another translational joint 12 . 13 and with the manipulator head 15 another hinge 13 . 15 , The advantageously rigid in itself hinge element 13 is thus one of the two mentioned the two-joint joint forming joints 12 . 13 and 13 . 15 common joint element. One of joint element 13 and manipulator head 15 forms the bearing shell and the other the bearing pin of the rotary joint 13 . 15 , In the translational joint 12 . 13 are the joint element 13 and together with it the manipulator head 15 along the translation axis T ₂ relative to the manipulator arm 12 linear reciprocating. In the hinge 13 . 15 is the manipulator head 15 relative to the hinge element 13 and thus relative to the manipulator arm 12 pivotable about an axis of rotation R ₂ . The two axes of rotation R ₁ and R ₂ are parallel to each other. The translation axis T ₂ intersects the two axes of rotation R ₁ and R ₂ . The swivel joints 11 . 12 and 13 . 15 are referred to as swivel joints in the following as pivot joints and their axes of rotation R ₁ and R ₂ due to the executable in them pivoting movements.

In the embodiment form the manipulator arm 12 a guide curve and the joint element 13 a guided engagement member of the translational joint 12 . 13 , The conditions could be in the joint 12 . 13 also be reversed, or it could also be both joint elements 12 and 13 for each other form a guide curve, which may be particularly straight as in the embodiment. The manipulator arm 12 is preferably straight as in the embodiment, but may in principle also be bent, wherein the translational movement of the manipulator head 15 follow the arcuate course of such a manipulator arm or, as in the embodiment, can point radially to the pivot axis R ₁ or parallel to a radial on the pivot axis R ₁ . Other types of relative translational movement of the manipulator head 15 are conceivable as long as for the change in the distance between the two pivot axes R ₁ and R _2, an additional pivoting movement does not have to be performed, which would require additional swivel space.

The manipulator head 15 takes in 2 relative to the manipulator arm 12 a foremost position. The translatory adjustment is in Direction to the pivot axis R ₁ preferably at least so long that the manipulator head 15 can be retracted on the adjustment to a position in which one of the manipulator head 15 held printing form 4 with its front end no longer over a front end of the manipulator arm 12 also available. Takes the manipulator head 15 Such a retracted position, as already determines the length of the manipulator arm alone 12 , measured on the pivot axis R ₁ , that of the printing form manipulator 10 claimed working space within the printing unit 1 - 3 , In order to keep the working space as low as possible, it is also advantageous if the manipulator head 15 between the printing form 4 and the pivot axis R ₂ measured is flat and further in the pivot joint 13 . 15 can be pivoted to a rotational angle position in which the held printing form 4 at least substantially parallel to the manipulator arm 12 extends. In the sense of a space-saving design, the length L of a swivel arm, the manipulator head 15 between the pivot axis R ₂ and the facing top of the printing form 4 forms as small as possible. Basically, the Schwenkarmlänge L can be made to "zero", so that the pivot joint 13 . 15 would reduce to a pure swivel. On the other hand, it should be ensured that the printing form 4 can pivot or rotate about the pure axis of rotation R ₂ in such an embodiment, and not by the manipulator arm 12 is hampered. To move between the manipulator arm 12 and the manipulator head 15 To obtain a simple joint connection, forms the manipulator head 15 for the printing form 4 However, a pivot arm with the length L, the simple design of the hinge joint in each position of the manipulator head 15 along the translational adjustment the required pivotability of the printing plate 4 guaranteed. This compromise comes opposite that the swivel joint 13 . 15 significantly closer to the front end than the rear end of the manipulator head 15 is arranged.

The manipulator head 15 includes one perpendicular to the printing plate 4 flat support structure 17 and several holding members 18 and 19 attached to one of the manipulator arm 12 opposite side of the support structure 17 protrude. The holding organs 18 and 19 are each formed as a sucker, for example as elastically compliant cups, for receiving a in the magazine 6 located printing form 4 against the later outside of the printing form 4 be pressed and because of their elasticity on the printing plate 4 fixed eyes. To release the printing form 4 are the holding members thus formed 18 and 19 pressurizable.

3 shows the manipulator head 15 with the printing form held thereon 4 in a perspective view. The support structure 17 consists of 3 rigidly connected, slim support arms. A long arm 17 protrudes from a common connection region to the rear, and the two remaining, shorter support arms protrude from the connection area obliquely forward, so that in a plan view, a V-shape is formed. At the ends of the support arms is in each case one of the holding members 18 and 19 arranged. Overall, the manipulator head has 15 over three holding organs 18 and 19 , of which the rear with 18 and the two front with 19 are designated. The connection structure 17 and the holding organs 18 and 19 are mirror-symmetrical to the translation axis T ₂ which is parallel to the rear support arm.

Of the connecting portion of the support arms protrudes from the held printing form 4 pointing away a footbridge 16 staring at ( 2 ), on which the bearing shell or the journal of the pivot joint 13 . 15 is formed.

In the printing unit 1 - 3 are along one in the direction of the axes of rotation of the cylinder 1 - 3 pointing traverse several manipulator heads 15 arranged side by side and pivotally mounted together about the pivot axis R ₁ . The manipulator heads arranged side by side 15 thus do not individually have a translational joint 7 . 11 and a swivel joint 11 . 12 , Rather, form two manipulator arms 12 , which are arranged at the two ends of the traverse, these joints with the guide 7 , Alternatively, the manipulator heads could 15 however, each with a manipulator arm 12 and each individually provided along the axis of translation _T1 and movable ever be pivotable about a pivot axis R individually formed. ₁ The number of Manipulatorköppfel mounted next to each other on a truss 5 or the optionally individually mounted printing form manipulators 10 corresponds to the number on the printing forme cylinders 3 side by side tensionable printing forms 4 ,

4 shows in a perspective view four manipulator heads 15 , which are mounted side by side on a common traverse. In the exemplary embodiment, the printing press is a four-page-wide rotary printing press. The manipulator heads 15 are only jointly movable along the translation axis T ₁ and pivotable about the pivot axis R ₁ only together. The manipulator heads 15 , the traverse and the manipulator arms 12 that ever in this other two-link link 7 . 11 . 12 with the leadership 7 form a printing form manipulator 10 for a printing form cylinder 3 with several, in the embodiment four juxtaposed printing forms 4 , The traverse is with the manipulator arms 12 each in the two-link connection 12 . 13 . 15 connected. The manipulator heads 15 are on the traverse each individually transverse to the manipulation plane, ie parallel to the axes of rotation of the cylinders 1 - 3 against elastic restoring forces, floating. The common axis of movement of the floating bearing is denoted by Q. The floating bearing ensures that the printing plates 4 be registered in register with respect to the page register.

The printing form manipulator 10 has in a manipulation plane, which is expediently a vertical plane, but must not be unavoidable, two degrees of freedom of rotation, namely about the two pivot axes R ₁ and R ₂ , and two degrees of freedom of translation, namely along the from the frame 7 swiveled manipulator arm 12 non-parallel translation axes T ₁ and T ₂ , on. It is in the installed state thus a four-axis or four-joint manipulator, in the case of transversal mobility, a five-axis or five-joint manipulator.

The 5 and 6 show an advanced manipulator head 20 , with which of the holding organs 18 and 19 held printing form 4 uniaxial can be warped. In order to obtain this additional capability, there is a distance d between the holding members in the manipulation plane 18 and 19 variable. Is by by the holding organs 18 and 19 held printing form 4 the distance d between the holding organs 18 and 19 reduced, so the printing form bulges 4 with respect to the circumferential direction of the cylinders 1 to 3 , The distance d is between the centers of the holding organs 18 and 19 measured, with the holding organs 18 and 19 projected parallel to the manipulation plane at right angles and the holding organs 19 are arranged in alignment in the projection.

For the variation of the distance d are the two front holding members 19 relative to the pivot joint 13 . 15 ( 2 ) movable. In the exemplary embodiment, the relative mobility in the basic version in itself rigid support structure 17 split into a rear section 21 and a front section 22 , The front section 22 carries the front holding organs 19 and is V-shaped as in the basic version. Preferably, the rear arm of the basic version is divided. The rear, rod-shaped section 21 carries the rear retaining member 18 , The section 21 is relative to the pivot of the manipulator head 20 along the translation axis T ₃ back and forth linearly movable. The two sections 21 and 22 form directly the two joint elements of this further translational joint, whose translation axis T ₃ to the held, not yet warped printing form 4 is parallel. The jetty 16 ( 2 ) corresponds to the basic version and protrudes rigidly from the front section 22 from.

To make sure the printing form 4 bulges in one of the two possible directions, is the manipulator head 20 with a discharge device 24 fitted. The discharge device 24 protrudes between the rear retaining member 18 and the front holding members 19 from the support structure 21 . 22 on one of the printing form 4 facing side and on the printing form 4 to.

The discharge device 24 For example, it can be formed as a simple cam or as a rib extending transversely to the translation axis T ₃ over a larger part of the printing plate width. In the exemplary embodiment, however, the discharge device is formed as a rotation body and on the support structure 21 . 22 about a perpendicular to the translation axis T ₃ and the manipulation plane facing axis of rotation rotatably mounted. The rotary body may be a single narrow roller or a roller extending over a larger part of the printing plate width. Instead of a single body of revolution, the discharge device 24 are also formed of a plurality of rollers, each rotatably mounted individually rotatable along a common axis of rotation or about parallel spaced axes of rotation and are arranged transversely to the translation axis T ₃ spaced from each other. The discharge device 24 protrudes from the support structure 21 . 22 ideally so far off that they are the printing form 4 just touched when the printing form 4 from the holding organs 18 and 19 is held. Optionally, in the held state in which the printing forme 4 not yet warped, between the discharge device 24 and the printing form 4 remain a clear gap, but should be as small as possible, so that it can be ensured that on the one hand by the holding organs 18 and 19 exerted the required holding force and on the other hand, a buckling of the printing plate 4 between the holding organs 18 and 19 from the support structure 21 . 22 away can be ensured if the holding organs 18 and 19 be moved towards each other.

The rear holding organ 18 is with the section 21 in a swivel joint 23 connected. The axis of rotation of the swivel joint 23 points perpendicular to the manipulation plane.

6 shows the manipulator head 20 after the holding organs 18 and 19 along the translation axis T ₃ moves towards each other and the printing plate 4 thereby between the distance variable holding organs 18 and 19 from the support structure 21 . 22 were arched away. The joint 23 serves to compensate for the curvature of the printing plate 4 , The articulated connection ensures that the retaining element 18 despite the curvature the printing form 4 as before contacted over the entire surface and at least substantially the same holding force, ie in the embodiment suction, as on the convex printing form 4 exercises. The joint 23 prevents the warping by a tensile force between the retainer 18 and the printing form 4 can occur, which is a release of the printing form 4 could cause.

The 7 to 9 show the use of the printing form manipulator 10 , either with the manipulator head 15 or the manipulator head 20 , on exemplarily illustrated printing units in H-bridge construction. 7 again shows the ten-cylinder printing unit 1 - 3 of the 1 , 8th shows a rubber / rubber printing unit 2 . 3 , and in 9 is a satellite printing unit 1 - 3 with only a single central cylinder 1 , a so-called nine-cylinder unit, shown. For the respective right side of the printing units 1 - 3 and 2 . 3 are in the two operating positions of the right printing form manipulator not shown held by this printing forms 4 shown in dashed lines.

A fully automatic change of printing forms 4 is shaped as follows: printing forms 4 are manually by an operator in the on an operating level of the printing unit 1 - 3 or 2 . 3 arranged magazine 6 inserted. The magazine 6 is formed as a multiple cassette. For each print zone of the plate cylinder 3 are in the magazine 6 three storage spaces each, namely two spaces per print zone, on which the two new printing forms 4 for the two printing forme cylinders to be used 3 are inserted, and an empty space. The new printing forms 4 are prepositioned in their places. To recognize mistakes during manual insertion by the operator early, the new printing forms 4 by means of a preferably fully automatic monitoring device, for example by means of bar code reader checked. For maintenance work in the printing unit, the magazine 6 be moved to a maintenance position.

The printing form manipulator 10 takes over the fully automatic feeding, insertion and removal as well as the clamping and unclamping of the printing plates 4 from the printing forme cylinders 3 , In the embodiments of the 7 to 9 Each printing unit has a printing form manipulator on both sides 10 for the upper and lower printing cylinder 3 provided the respective printing unit. Although less preferred, it is also conceivable that for each of the printing form cylinder 3 the printing press ever own printing form manipulator 10 is provided. However, such a design is cost-driving, and the change times can only be reduced slightly, since the superimposed Druckformmanipulatoren 10 can hinder each other.

Parallel to the axes of rotation of the cylinders 1 to 3 are manipulator heads 15 along a truss next to each other in one of the number of pressure zones per plate cylinder 3 appropriate number provided. With such a printing form manipulator 10 can thus print forms 4 in all pressure zones of the respective printing forme cylinder 3 be changed at the same time.

For the change, first the old printing forms 4 one of the two associated printing form cylinder 3 dismantled, namely guyed and unhooked. For this purpose, the respective printing forme cylinder 3 rotated in a corresponding angular position. The manipulator heads 15 or 20 of the printing form manipulator drive into the printing form cylinder 3 associated removal position, namely the operating position described above. In the removal position by means of the holding organs 18 and 19 the trailing end of the old printing forms to be changed 4 relaxed. Subsequently, the cylinder drive rotates the respective printing form cylinder 3 in the case of two over the circumference spanned printing forms 4 back by half a turn, thereby winding the relaxed pressure forms 4 from. The manipulator heads 15 take over by means of their holding organs 18 and 19 one each of the unwound printing forms 4 , move the printing forms 4 out of the interior of the printing unit, drive to the magazine 6 and put the printing forms 4 in each empty space of the magazine 6 from.

For the assembly of new printing plates 4 remove the manipulator heads 15 by means of their holding organs 18 and 19 the new printing forms to be hung 4 the corresponding memory locations of the magazine 6 , Before that were the new printing forms 4 checked by means of the monitoring device. Then the printing form manipulator moves 10 in the respective printing forme cylinder 3 assigned operating position, the previous removal position, back. The printing plate cylinder 3 is rotated in a suitable for hanging rotary position, and those on the manipulator heads 15 or 20 hanging printing forms 4 be by appropriate movements in the joints of the printing form manipulator 10 to the printing plate cylinder 3 moved, with their leading edges mounted in register and on the plate cylinder 3 curious; excited.

For clamping the new printing forms 4 rotates the respective printing forme cylinder 3 in the example assumed case of two over the circumference successively arranged printing forms 4 by half a turn forward. The trailing ends of the new printing plates 4 be from one to the manipulator heads 15 or 20 Rolling device provided rolls over and thereby automatically into the clamping channel of the plate cylinder 3 pressed. The clamping can, for example, the discharge device 24 serve, if it is formed as a rotational body or from rotational bodies. To accomplish this task by rolling on the respective printing form 4 to be able to fulfill during clamping, is the discharge device 24 per manipulator head 20 over the respective holding organs 18 and 19 out in a further projecting position movable and fixable in this position.

If on the same printing forme cylinder 3 the offset in the example in the circumferential direction arranged other printing forms 4 should also be changed, the printing form manipulator 10 remain in the assumed operating position and these printing plates 4 remove as described and replace with new ones. Otherwise it moves to the operating position for the other of the two associated printing forme cylinder 3 in order to change the respective printing forms according to a plan of change prescribed by the controller 4 also to change in the manner described. After completion of the change process, the crosshead with the manipulator heads 15 or 20 moved out of the interior of the printing unit and the printing form manipulator 10 moved to a rest position in which he does not obstruct visual inspections, any operating and maintenance work on the printing unit.

LIST OF REFERENCE NUMBERS

1

central cylinder

2

Blanket cylinder

3

Plate cylinder

4

printing form

5

frame

6

magazine

7

guide

8th

9

10

Printing form manipulator

11

joint element

12

manipulator

13

joint element

14

15

A manipulator head

16

web

17

support structure

18

holding member

19

holding member

20

A manipulator head

21

structure section

22

structure section

23

adjustment

24

Discharge device, discharge element

R ₁

swivel axis

R ₂

swivel axis

T ₁

translation axis

T ₂

translation axis

T ₃

translation axis

Q

translation axis

d

Distance holding organs

L

two movable arms

Claims (30)

Combination of an offset printing plate and a printing form manipulator for mounting or unmounting an offset printing plate ( 4 ) in a printing unit, the printing form manipulator comprising: a) a movable manipulator head ( 20 ) with at least two retaining organs ( 18 . 19 ) for the offset printing plate ( 4 ) which are spaced from each other so that they the offset printing plate ( 4 ) at mutually spaced locations, b) the manipulator head ( 20 ) at least one of the holding members ( 18 . 19 ) relative to the other movable so stored that by the holding organs ( 18 . 19 ) held offset printing plate a distance (d) between the holding members ( 18 . 19 ) is variable. Combination of an offset printing plate and a printing form manipulator according to the preceding claim, characterized in that the manipulator head ( 20 ) for the variation of the distance (d) the at least one of the holding members ( 18 . 19 ) translationally movable by means of guide curve and engaging member. Combination of an offset printing plate and a printing form manipulator according to one of the preceding claims, characterized in that the manipulator head for the variation of the distance (d) pivotally supports the at least one or the other of the holding members. Combination of an offset printing plate and a printing form manipulator according to one of the preceding claims, characterized in that the manipulator head ( 20 ) a discharge device ( 24 ), which ensures that the offset printing plate ( 4 ) can only bend in one direction when the distance (d) between the holding members ( 18 . 19 ) is reduced. Combination of an offset printing plate and a printing form manipulator according to the preceding claim, characterized in that the discharge device ( 24 ) a dissipation element ( 24 ), which by pressure against the offset printing plate ( 4 ) a bending of the offset printing plate ( 4 ) around the discharge element ( 24 ) causes. Combination of an offset printing plate and a printing form manipulator according to the preceding claim, characterized in that the discharge element ( 24 ) between the holding organs ( 18 . 19 ) is arranged. Combination of an offset printing plate and a printing form manipulator according to one of the three preceding claims, characterized in that the discharge device ( 24 ) and the holding organs ( 18 . 19 ) of the same side of the offset printing plate ( 4 ) are arranged facing. Combination of an offset printing plate and a printing form manipulator according to one of the two preceding claims, characterized in that the discharge element ( 24 ) one of the manipulator head ( 20 ) rotatably mounted roller, by means of the manipulator head ( 20 ) for mounting an offset printing plate ( 4 ) on a printing form carrier ( 3 ) on the hinged offset printing plate ( 4 ) is unrolled with a pressing force. Combination of an offset printing plate and a printing form manipulator according to one of the preceding claims, characterized in that the manipulator head ( 20 ) at least one of the holding members ( 18 . 19 ) in a compensating joint ( 23 ) stores, this holding member ( 18 ) allows the offset printing plate (FIG. 4 ) to follow. Combination of an offset offset printing plate and a printing plate manipulator according to the preceding claim, characterized in that by means of the compensating joint ( 23 ) mounted holding member ( 18 ) in the compensating joint ( 23 ) is pivotable about an axis of rotation or rotatable. Combination of an offset printing plate and a printing form manipulator according to one of the preceding claims, further comprising - a movable manipulator arm ( 12 ), - a first joint ( 13 . 20 ), the manipulator head ( 20 ) pivotable in at least one plane or only rotatable with the manipulator arm ( 12 ), - and a second joint ( 12 . 13 ), in which the manipulator head ( 20 ) in the at least one plane in the longitudinal direction of the manipulator arm ( 12 ) translationally movable with the manipulator arm ( 12 ) connected is. Combination of an offset printing plate and a printing form manipulator according to the preceding claim, characterized in that either the manipulator arm ( 12 ) or the manipulator head ( 20 ) the first joint ( 13 . 20 ) translationally movable stores. Combination of an offset printing plate and a printing form manipulator according to one of the two preceding claims, characterized in that either the manipulator arm ( 12 ) or the manipulator head ( 20 ) a joint element of the first joint ( 13 . 20 ). Combination of an offset printing plate and a printing form manipulator according to one of the three preceding claims, characterized in that a joint element ( 13 ) of the first joint ( 13 . 20 ) also a joint element of the second joint ( 12 . 13 ). Combination of an offset printing plate and a printing form manipulator according to one of the four preceding claims, characterized in that the second joint ( 12 . 13 ) comprises a guide cam and at least one guided by the guide cam engaging member and that either the manipulator arm ( 12 ) or the manipulator head ( 20 ) is connected to the guide cam and the other with the engaging member. Combination of an offset printing plate and a printing form manipulator according to one of the five preceding claims, characterized in that a pivot arm (L) extending from a pivot axis (R ₂ ) formed by the first joint to one of the retaining members ( 18 . 19 ) offset printing plate ( 4 ) is shorter than a maximum path length of the translatory movement of the manipulator head ( 20 ). Combination of an offset printing plate and a printing form manipulator according to one of the six preceding claims, characterized in that a rotation axis (R ₂ ) of the first joint and a translation axis (T ₂ ) of the second joint intersect each other. Combination of an offset printing plate and a printing form manipulator according to one of the seven preceding claims, characterized in that the printing plate manipulator ( 10 ) a frame part ( 7 ) of the printing unit ( 1 - 3 ) and a third joint ( 11 . 12 ) comprising the manipulator arm ( 12 ) with the frame part ( 7 ) connects. Combination of an offset printing plate and a printing form manipulator according to the preceding claim, characterized in that the manipulator arm ( 12 ) a joint element of the third joint ( 11 . 12 ). Combination of an offset printing plate and a printing form manipulator according to one of the nine preceding claims, characterized in that the printing plate manipulator ( 10 ) a frame part ( 7 ) of the printing unit ( 1 - 3 ) and a fourth joint ( 7 . 11 ) comprising the manipulator arm ( 12 ) with the frame part ( 7 ) translationally movable connects. Combination of an offset printing plate and a printing form manipulator according to the preceding claim, characterized in that the Frame part ( 7 ) a joint element of the fourth joint ( 7 . 11 ). Combination of an offset printing plate and a printing form manipulator according to one of the preceding claims, characterized in that the printing unit ( 1 - 3 ) on one side two at least substantially one above the other arranged printing form cylinder ( 3 ), the printing form manipulator ( 10 ) on a rack ( 5 . 7 ) of the printing unit ( 1 - 3 ) is mounted, preferably translationally movable, and the two printing forme cylinders ( 3 ) is assigned together. Combination of an offset printing plate and a printing form manipulator according to one of the preceding claims, characterized in that the manipulator head ( 20 ) is mounted movable transversely to the at least one plane. Combination of an offset printing plate and a printing form manipulator according to one of the preceding claims, characterized in that it comprises a plurality of manipulator heads (15) arranged side by side transversely to the at least one plane ( 20 ). Combination of an offset printing plate and a printing form manipulator according to the preceding claim in combination with claim 11, characterized in that one with the manipulator arm ( 12 ) Traverse is provided, at which the manipulator heads ( 20 ) are mounted side by side. Combination of an offset printing plate and a printing form manipulator according to the preceding claim, characterized in that the traverse in the first joint ( 13 . 20 ) pivotable or only rotatable with the manipulator arm ( 12 ) connected is. Combination of an offset printing plate and a printing form manipulator according to one of the two preceding claims, characterized in that the traverse in the second joint ( 12 . 13 ) translationally movable with the manipulator arm ( 12 ) connected is. Method for hooking or unhooking a flexible printing form into or out of a printing form carrier, preferably a printing form cylinder, in which one has at least two holding members ( 18 . 19 ) manipulator head ( 20 ) of an automatic printing form manipulator ( 10 ) the offset printing plate ( 4 ) with the at least two holding members ( 18 . 19 ) held by a movement of at least one of the holding members ( 18 . 19 ) deformed towards the other, preferably bends, and the deformed offset printing plate ( 4 ) to the printing form carrier ( 3 ) or from the printing form carrier ( 3 ) moved away. Printing form manipulator for inserting and removing a flexible printing plate in a printing unit, wherein the printing plate manipulator ( 10 ) a movable manipulator head ( 20 ) with at least two retaining organs ( 18 . 19 ) for the printing form ( 4 ), the retaining members ( 18 . 19 ) are spaced apart from each other so that they form the printing form ( 4 ) at mutually spaced contact points, the manipulator head ( 20 ) at least one of the holding members ( 18 . 19 ) relative to the other superimposed so that by the holding organs ( 18 . 19 ) held printing form ( 4 ) a distance (d) between the holding members ( 18 . 19 ) is variable, and the distance between the holding organs ( 18 . 19 ) is reduced while maintaining the contact points, whereby the printing form ( 4 ) is warped. A printing form manipulator according to claim 29, wherein the printing form manipulator ( 10 ) is a printing form manipulator according to one of claims 2 to 27.

Images